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matrix_alg: use PX4_ISFINITE() instead if isnan() & isinf()

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Beat Küng
2017-01-26 15:49:39 +01:00
committed by Lorenz Meier
parent 5c96c8c1b3
commit 1da934049c
1 changed files with 2 additions and 1 deletions
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3
src/lib/mathlib/math/matrix_alg.cpp
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@@ -39,6 +39,7 @@
*/ */
#include "matrix_alg.h" #include "matrix_alg.h"
#include <px4_defines.h>
/* /*
* Does matrix multiplication of two regular/square matrices * Does matrix multiplication of two regular/square matrices
@@ -239,7 +240,7 @@ bool mat_inverse(float *A, float *inv, uint8_t n)
//check sanity of results //check sanity of results
for (uint8_t i = 0; i < n; i++) { for (uint8_t i = 0; i < n; i++) {
for (uint8_t j = 0; j < n; j++) { for (uint8_t j = 0; j < n; j++) {
if (isnan(inv_pivoted[i * n + j]) || isinf(inv_pivoted[i * n + j])) { if (!PX4_ISFINITE(inv_pivoted[i * n + j])) {
ret = false; ret = false;
} }
} }